完全分布式异构多智能体系统有限时间跟踪

针对异构二阶非线性多智能体系统有限时间跟踪问题,提出一种完全分布式一致性控制方法,消除对于误差上界与Laplacian矩阵特征值等全局信息的依赖.设计一种只包含局部信息的有限时间一致性协议,并提出自适应增益的分布式切换机制,使得各增益以分段常数的方式进行调节,简化了相邻两次切换时间区间内稳定性分析过程.通过反证法证明多智能体系统必将实现有限时间一致性,并且自适应增益保持有界.仿真结果验证了所提出的完全分布式一致性协议的有效性.

Fully distributed finite-time tracking of heterogeneous multi-agent systems

For the finite-time tracking problem for heterogeneous second-order nonlinear multi-agent systems, a fully distributed consensus control method is proposed to eliminate the dependence of the global information, including the upper bound of errors and the eigenvalues of the Laplacian matrix. Based on local information only, a finite-time consensus protocol is designed. To simplify the stability analysis of the time interval between two adjacent switching times, a distributed switching mechanism of the adaptive gains is proposed with the gains regulated as piecewise constants. By seeking a contradiction, it is proved that the multi-agent systems must reach finite-time consensus and the adaptive gains are bounded. A simulation example is provided to illustrate the effectiveness of the proposed fully distributed consensus protocol.